EP3360842A1 - Système de navigation pour chariot élévateur - Google Patents
Système de navigation pour chariot élévateur Download PDFInfo
- Publication number
- EP3360842A1 EP3360842A1 EP17202420.0A EP17202420A EP3360842A1 EP 3360842 A1 EP3360842 A1 EP 3360842A1 EP 17202420 A EP17202420 A EP 17202420A EP 3360842 A1 EP3360842 A1 EP 3360842A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- limit
- ncm
- vcm
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001133 acceleration Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 4
- 230000004044 response Effects 0.000 claims description 2
- 238000004891 communication Methods 0.000 description 14
- 238000013500 data storage Methods 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 238000013507 mapping Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
Definitions
- Embodiments provided herein generally relate to vehicular control limits, and particularly to systems and methods for providing a vehicle control limits for a vehicle under automatic operation mode.
- One embodiment of a system includes a navigation system and a vehicle that includes a memory component that stores a program.
- Embodiments of the system are configured to receive an indication for automatic control of the vehicle, receive a route for the vehicle to reach a destination for completing a work order from the navigation system, and determine a vehicle limit, wherein the vehicle limit is based on a current state of the vehicle.
- Some embodiments are configured to communicate the vehicle limit from a vehicle control module (VCM) to a navigation control module (NCM), determine, via the NCM, an automatic command based on the destination and the vehicle limit and send the automatic command to a motor of the vehicle.
- VCM vehicle control module
- NCM navigation control module
- Some embodiments of the method include receiving a work order, the work order related to movement of load to a three-dimensional destination, determining a route for a vehicle to reach the three-dimensional destination for completing the work order, and determining a vehicle limit, wherein the vehicle limit is based on a current state of the vehicle. Some embodiments of the method include determining an automatic command based on the three-dimensional destination and the vehicle limit and sending the automatic command to the vehicle.
- Some embodiments of the vehicle include a memory component that stores a program that, when executed by a processor, causes the vehicle to receive an indication for automatic control of a vehicle, receive a route to reach a destination, and determine a vehicle limit of the vehicle, wherein the vehicle limit is based on a current state of the vehicle.
- the program causes the vehicle to communicate the vehicle limit from a vehicle control module (VCM) to a navigation control module (NCM) and utilize the NCM to navigate the vehicle to the destination, while adhering to the vehicle limit.
- VCM vehicle control module
- NCM navigation control module
- FIG. 1 depicts a computing environment for providing vehicle control limits, according to one or more embodiments shown and described herein.
- a network 100 may facilitate communication among a navigation system 102, a remote computing device 104, and a vehicle 106.
- the network 100 may include a wired and/or wireless local area network, wide area network, and/or other type of network for communicating information.
- the navigation system 102 may be configured as a server or other computing device and may be located at a warehouse or other environment.
- the navigation system 102 may be configured for sending navigation to the vehicle 106 and/or receiving navigation data from the vehicle 106.
- the remote computing device 104 which may be implemented as a management computing device or other system, may be configured for processing work orders.
- the work orders may identify the location of a product that needs to be moved and/or provide other similar information.
- the navigation system 102 and/or remote computing device 104 may be configured to determine a vehicle for performing the desired task. Additionally, the navigation system 102 may determine an order of priority that tasks are performed by a particular vehicle 106. The navigation system 102 may communicate with the vehicle 106 to determine the location of the vehicle 106. With the location of the vehicle 106, the navigation system 102 may more efficiently assign tasks to the vehicle 106. Additionally, the communication between the navigation system 102 and the vehicle 106 may include sending the predetermined destination and/or routing data to the vehicle 106.
- the routing data may include a plurality of lines and arcs for reaching a predetermined destination from the current location of the vehicle 106. In some embodiments, however, the vehicle 106 receives coordinates of the predetermined destination and determines its own routing to reach those coordinates.
- the remote computing device 104 may also be configured as a server or other computing device and may be configured to provide the navigation system 102 with the work orders, and/or other information. In some embodiments, the remote computing device 104 may be located on the same premises as the navigation system 102, while in some embodiments the remote computing device 104 may be located remotely from the navigation system 102. Similarly, depending on the particular embodiment, the remote computing device 104 may be configured to service one or more different environments and communicate with one or more different navigation systems.
- FIG. 1 also includes the vehicle 106.
- the vehicle 106 may be configured as a warehouse vehicle, such as a forklift, truck, etc. Additionally, the vehicle 106 may include one or more vehicle control systems, such as a steering system, a braking system, a traction system, etc.
- the vehicle 106 also includes a user interface, location tracking sensors (such as laser sensors, light sensors, etc .), and vehicle computing architecture 110, which may include a vehicle control module (VCM) 112 and a navigation control module (NCM) 114.
- VCM vehicle control module
- NCM navigation control module
- the VCM 112 may facilitate operator initiated control of the vehicle 106 through the use of a manual mode.
- the NCM 114 may be configured to send a control command to facilitate system-initiated operation of the vehicle 106 through the use of an auto operation mode. Also illustrated is a navigation control interface for facilitating communication and coordination between the VCM 112 and the NCM 114.
- FIG. 2 depicts an environment map 200 for providing vehicle control limits, according to embodiments shown and disclosed herein.
- the environment map 200 may simulate an environment, such as a warehouse and may include a plurality of products 202.
- the products may be organized in a predetermined arrangement and may be not only arranged along the floor (in the "x" and "y” directions), but may also be stacked vertically (in the "z” direction).
- the vehicle 106 may be operated in manual mode by an operator, sending a manual command to the vehicle 106. The operator may then implement a manual control function to manually navigate the vehicle to the predetermined destination, perform the desired task, and then proceed to the next task.
- the vehicle 106 may determine a vehicle condition and operate in automatic mode.
- the vehicle 106 may implement automatic control from the NCM 114, the navigation system 102, navigation system operator, vehicle operator, and/or other external source by determining an efficient operation of the vehicle 106 to perform the task and sending a control command based on the efficient operation, vehicle condition and desired task. With this information, the vehicle 106 may travel to a desired location, perform the desired task, and then proceed to the next location.
- the vehicle 106 may receive a task, a predetermined destination (address D212), and/or a route for reaching the predetermined destination. Depending on the information received, the vehicle 106 may calculate a route to the predetermined location at the address D212 and may then perform the task. In this particular example, the task requests the vehicle 106 to pick up the product located at the address D212. From the current location of the vehicle 106, the vehicle 106 may then use sensors and mapping data to navigate according to the determined path. In some embodiments, the vehicle 106 may include a light sensor. The light sensor may determine the relative position of the vehicle 106 with regard to the overhead lighting fixtures. Based on this information, and/or other information (such as laser sensor information, odometer readings, etc .), the vehicle 106 (and/or the navigation system 102) may ensure that the vehicle 106 is on the correct path.
- a light sensor may determine the relative position of the vehicle 106 with regard to the overhead lighting fixtures. Based on this information, and/or other information (such as laser sensor information,
- the vehicle may receive one or more control signals from the NCM 114 to the VCM 112.
- the VCM 112 and the NCM 114 may communicate vehicle limit data.
- the vehicle 106 may have an acceleration limit, by which the vehicle 106 may not accelerate beyond a predetermined rate.
- the vehicle 106 may have a fork height limit, a hoist acceleration limit, a hoist speed limit, etc. a steering limit may also be imposed on the vehicle. If the vehicle 106 includes one or more accessories, the vehicle may impose an accessory lower limit, an accessory speed limit, an accessory upper limit, and/or other limits.
- the VCM 112 may communicate limit data with the NCM 114 to prevent confusion within the vehicle 106.
- FIG. 3 depicts a computing environment for providing control logic in the VCM 112, according to one or more embodiments shown and described herein.
- the VCM 112 includes a processor 330, input/output hardware 332, a data storage component 336 (which stores limits data 338a, mapping data 338b, and/or other data), and the memory component 140.
- the limits data 338a may include one or more limits that may be placed on the vehicle 106 when in use. Specifically, when the vehicle 106 is turning, the maximum speed may be limited. When the vehicle 106 has raised the vehicle lift, the maximum speed may be limited. Other limits may also be implemented.
- the mapping data 338b may include information for the layout of the environment, as illustrated in FIG. 2 , as well as the location of products, paths to the products, etc.
- the memory component 140 may be configured as volatile and/or nonvolatile memory and as such, may include random access memory (including SRAM, DRAM, and/or other types of RAM), flash memory, secure digital (SD) memory, registers, compact discs (CD), digital versatile discs (DVD), and/or other types of non-transitory computer-readable mediums.
- the non-transitory computer-readable medium may reside within the VCM 112 and/or external to the VCM 112.
- the memory component 140 may store operating logic 342, traction logic 344a, steering logic 344b, hoist logic 344c, and accessory logic 344d.
- the operating logic 342 may include an operating system and/or other software for managing components of the VCM 112.
- the traction logic 344a may be configured with one or more algorithms and parameters for facilitating optimal traction control for the vehicle 106.
- the steering logic 344b may be configured with one or more algorithms and parameters for facilitating optimal steering control of the vehicle 106.
- the hoist logic 344c may include one or more algorithms and parameters for facilitating optimal hoist control of the vehicle 106.
- the accessory logic 344d may include one or more algorithms and parameters for facilitating operation of accessories of the vehicle 106.
- a local communication interface 346 is also included in FIG. 3 and may be implemented as a bus or other communication interface to facilitate communication among the components of the VCM 112.
- the processor 330 may include any processing component operable to receive and execute instructions (such as from the data storage component 336 and/or the memory component 140).
- the input/output hardware 332 may include and/or be configured to interface with a monitor, positioning system, keyboard, touch screen, mouse, printer, image capture device, microphone, speaker, gyroscope, compass, and/or other device for receiving, sending, and/or presenting data.
- the network interface hardware 334 may include and/or be configured for communicating with any wired or wireless networking hardware, including an antenna, a modem, LAN port, wireless fidelity (Wi-Fi) card, WiMax card, mobile communications hardware, and/or other hardware for communicating with other networks and/or devices. From this connection, communication may be facilitated between the VCM 112 and other computing devices.
- FIG. 3 is merely exemplary and are not intended to limit the scope of this disclosure. While the components in FIG. 3 are illustrated as residing within the VCM 112, this is merely an example. In some embodiments, one or more of the components may reside external to the VCM 112. It should also be understood that while the VCM 112 in FIG. 3 is illustrated as a single device, this is also merely an example. In some embodiments, the traction logic 344a, steering logic 344b, hoist logic 344c, and/or accessory logic 344d may reside on different devices.
- VCM 112 is illustrated with traction logic 344a, steering logic 344b, hoist logic 344c, and accessory logic 344d as separate logical components, this is also an example. In some embodiments, a single piece of logic may cause the VCM 112 to provide the described functionality. Further, similar components may also be included in the NCM 114, navigation system 102, and remote computing device 104 to perform the functionality described herein.
- FIG. 4 depicts a graph 400 for providing limits on travel speed versus lift height, according to embodiments shown and described herein.
- the graph 400 indicates a lift height versus travel speed of the vehicle 106, where the maximum travel speed is about 8.5 miles per hour when the lift is 0 to about 130 inches. From about 130 inches to about 250 inches, the maximum travel speed is about 3 miles per hour. From about 250 inches to about 500 inches, the maximum speed reduces at a rate of about 1 mph per 100 inches of lift.
- FIG. 5 depicts a graph 500 for providing limits on maximum vehicle speed, versus steer angle, according to embodiments shown and described herein.
- the graph 500 depicts a representation of steer angle versus maximum allowable vehicle speed with 100% of the maximum vehicle speed being allowed when the steer angle is 0 to about 8 degrees. From about 8 degrees to about 30 degrees of steer angle, the maximum allowable speed reduces from about 100% to about 70%. From about 30 degrees of steer angle to about 90 degrees of steer angle, the maximum allowable speed is flat at about 70%.
- TrxSpdFB LSB
- TrxSpdLimit LSB
- TrxSpdLimit LSB
- TrxAccelForceLimit LSB
- TrxDecelForceLimit LSB
- TrxDecelForceLimit LSB
- Table 1 identifies traction data that may be sent from the VCM 112 to the NCM 114 via the navigation control interface.
- the purpose of the message in Table 1 is traction feedback and vehicle traction limits. While Table 1 indicates that the data is sent as an 8 byte message, this is merely an example. Regardless, Table 1 illustrates that byte 0 and byte 1 are utilized for traction speed feedback.
- Bytes 2 and 3 may be utilized for identifying a traction speed limit.
- Bytes 4 and 5 may be utilized to identify a traction acceleration force limit.
- Bytes 6 and 7 may be utilized to identify a traction deceleration force limit.
- the traction speed feedback of bytes 0 and 1 may be communicated from the VCM 112 to the NCM 114 to identify a current speed and/or traction state that the vehicle 106 is experiencing. Additionally, the vehicle 106 may be subject to one or more vehicle limits that are imposed. The vehicle limits may include a speed limit, an acceleration limit, and/or a deceleration limit.
- Table 2 includes steering data that is sent from the VCM 112 to the NCM 114 via the navigation control interface.
- bytes 0 and 1 may be utilized to provide a wheel angle feedback (current wheel angle) of the vehicle.
- Bytes 2 and 3 may be utilized to identify a counterclockwise maximum wheel angle.
- Bytes 4 and 5 may be utilized to identify a clockwise maximum wheel angle.
- Bytes 6 and 7 may be utilized to identify a wheel angle rate limit of rotation.
- Table 3 includes hoist data that may be communicated by the VCM 112 to the NCM 114 via the navigation control interface. Specifically, the data provided in this message reports information regarding the current state of the fork. Accordingly, bytes 0 and 1 may be utilized to identify the fork height feedback (current fork height) of the vehicle 106. Bytes 2 and 3 may be utilized to identify a fork hoist speed limit of the vehicle 106. Bytes 4 and 5 may be utilized to identify a hoist acceleration limit of the fork. Bytes 6 and 7 may be utilized to identify a hoist height limit of the fork. Additionally, other data may be provided to the NCM 114, such as current load weight, current vehicle speed, etc.
- This other data may be provided within one of the data communications depicted in Tables 1 - 4 and/or via other data messages.
- Producer VCM CAN ID A/B Purpose Accessory 1 Feedback and Limits* Length 8 Consumers NCM Report Rate Every 16 mS Byte Contents Description Units/Scaling Byte 0 Accy 1 Pos (LSB) Deg or mm Byte 1 Accy 1 Pos (MSB) Byte 2 Accy 1 UpperLimit (LSB) Deg or mm Byte 3 Accy 1 UpperLimit (MSB) Byte 4 Accy 1 LowerLimit (LSB) Deg or mm Byte 5 Accy 1 LowerLimit (MSB) Byte 6 Accy 1 Speed Limit (LSB) deg/sec * 100 or mm/sec Byte 7 Accy 1 Speed Limit (MSB)
- Table 4 includes vehicle accessory data that may be communicated by the VCM 112 to the NCM 114 via the navigation control interface. Specifically, bytes 0 and 1 may be utilized to identify an accessory position of an accessory on the vehicle 106. Bytes 2 and 3 may be utilized to identify an accessory upper limit of the vehicle 106. Bytes 4 and 5 may be utilized to identify an accessory lower limit. Bytes 6 and 7 may be utilized to identify an accessory speed limit.
- communication between the VCM 112 may indicate one or more limits that are placed on the vehicle 106.
- the vehicle 106 when operating in manual mode, the vehicle 106 may be subject to the limits stored in the data storage component 336, discussed above.
- the navigation system 102 and/or the NCM 114 may not be aware of the limits on the vehicle 106.
- the navigation system 102 and/or the NCM 114 provide a speed (or other) command to the VCM 112
- the vehicle 106 may not be able to provide the requested performance due to the limits.
- the information in Tables 1 - 4 may include limit data on the vehicle 106.
- the limit data may include a plurality of limits, such as depicted in FIGS. 4 and 5 and/or may simply be a numerical limit, based on the current conditions of the vehicle 106.
- the navigation system 102 and/or NCM 114 will be aware of the limits and only request performance that is within the acceptable ranges.
- FIG. 6 depicts a flowchart for implementing vehicle limits, according to embodiments shown and described herein.
- a determination may be made regarding the operation mode of the vehicle 106.
- the VCM 112, NCM 114, and/or navigation system 102 may determine whether the vehicle 106 is currently operating in manual mode or automatic mode. If, in block 632, the vehicle 106 is not operating in automatic mode, the process returns to block 630. If the vehicle 106 is operating in automatic mode, in block 634 the VCM 112 may send the vehicle limits to the navigation system 102 and/or to the NCM 114. In block 636, the navigation system 102 and/or NCM 114 sends vehicle commands that are within the vehicle limits.
- FIG. 7 depicts yet another flowchart for implementing vehicle limits, according to embodiments shown and described herein.
- a work order may be received, where the work order is related to movement of a load to a three-dimensional destination.
- a route for the vehicle 106 may be determined to reach the three-dimensional destination for completing the work order.
- a vehicle limit may be determined, where the vehicle limit is based on a current state of the vehicle 106.
- an automatic command is determined based on the there-dimensional destination and the vehicle limit.
- the automatic command is sent to the vehicle 106.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Forklifts And Lifting Vehicles (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201161528494P | 2011-08-29 | 2011-08-29 | |
PCT/US2012/052837 WO2013033193A1 (fr) | 2011-08-29 | 2012-08-29 | Système de navigation pour chariot à fourche |
EP12759858.9A EP2751014A1 (fr) | 2011-08-29 | 2012-08-29 | Système de navigation pour chariot à fourche |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP12759858.9A Division EP2751014A1 (fr) | 2011-08-29 | 2012-08-29 | Système de navigation pour chariot à fourche |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3360842A1 true EP3360842A1 (fr) | 2018-08-15 |
Family
ID=46875964
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP12759858.9A Withdrawn EP2751014A1 (fr) | 2011-08-29 | 2012-08-29 | Système de navigation pour chariot à fourche |
EP17202420.0A Pending EP3360842A1 (fr) | 2011-08-29 | 2012-08-29 | Système de navigation pour chariot élévateur |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP12759858.9A Withdrawn EP2751014A1 (fr) | 2011-08-29 | 2012-08-29 | Système de navigation pour chariot à fourche |
Country Status (7)
Country | Link |
---|---|
US (2) | US8718860B2 (fr) |
EP (2) | EP2751014A1 (fr) |
CN (1) | CN103842281B (fr) |
AU (1) | AU2012302068B2 (fr) |
BR (1) | BR112014004809A2 (fr) |
CA (1) | CA2845834C (fr) |
WO (1) | WO2013033193A1 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112125224A (zh) * | 2020-09-16 | 2020-12-25 | 中建材创新科技研究院有限公司 | 一种激光导航叉车的导航系统及方法 |
Families Citing this family (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
BR112014004817A2 (pt) * | 2011-08-29 | 2017-05-30 | Crow Equipment Corp | sistema para prover uma interface de controle de navegação veicular, e, veículo |
US9617134B2 (en) * | 2014-08-19 | 2017-04-11 | Crown Equipment Corporation | De-centralized operational indicator system for a materials handling vehicle |
CN104680354A (zh) * | 2015-03-24 | 2015-06-03 | 浙江中烟工业有限责任公司 | 一种物流中心仓储任务指派与控制系统 |
US9811088B2 (en) | 2015-05-06 | 2017-11-07 | Crown Equipment Corporation | Industrial vehicle comprising tag reader and reader module |
MX368185B (es) | 2015-05-06 | 2019-09-23 | Crown Equip Corp | Etiqueta de diagnóstico de un lector de etiquetas de vehículo industrial. |
BR112017025504A2 (pt) | 2015-07-17 | 2018-08-07 | Crown Equipment Corporation | dispositivo de processamento tendo uma interface gráfica de usuário. |
EP3334637B1 (fr) | 2015-08-14 | 2020-03-18 | Crown Equipment Corporation | Diagnostic fondé sur un modèle, en fonction d'un modèle de direction |
CA2991312C (fr) | 2015-08-14 | 2023-09-19 | Crown Equipment Corporation | Applications de direction et de traction pour determiner un attribut de commande de direction et un attribut de commande de traction |
US9880009B2 (en) | 2015-09-04 | 2018-01-30 | Crown Equipment Corporation | Industrial vehicle with feature-based localization and navigation |
JP6510436B2 (ja) * | 2016-02-12 | 2019-05-08 | 株式会社日立製作所 | 物品搬送システム、搬送装置及び物品搬送方法 |
EP3753898B1 (fr) | 2016-05-23 | 2023-07-19 | Crown Equipment Corporation | Véhicule de manutention de matériaux |
US10255769B2 (en) | 2016-06-24 | 2019-04-09 | Crown Equipment Corporation | Electronic badge as a talking marker |
BR112018074419A2 (pt) * | 2016-06-24 | 2019-03-06 | Crown Equipment Corporation | processo implementado por computador, e, sistema para rastrear indiretamente selos eletrônicos. |
US10257646B2 (en) | 2016-06-24 | 2019-04-09 | Crown Equipment Corporation | Use of electronic badges in aisle passing maneuvers |
MX2018016065A (es) | 2016-06-24 | 2019-03-28 | Crown Equip Corp | Credencial electronica para autenticar y rastraer a un operador de vehiculo industrial. |
CN109844671B (zh) | 2016-08-26 | 2022-04-29 | 克朗设备公司 | 物料搬运车辆和关于物料搬运车辆执行路径确认逻辑的方法 |
MX2019002217A (es) | 2016-08-26 | 2019-07-08 | Crown Equip Corp | Herramientas de escaneo de obstaculos para vehiculo de manejo de materiales. |
BR112019006386A2 (pt) | 2016-11-22 | 2019-06-25 | Crown Equip Corp | dispositivo de exibição e processamento para um veículo industrial. |
WO2018132169A1 (fr) | 2017-01-13 | 2018-07-19 | Crown Equipment Corporation | Récupération de vitesse de traction basée sur une dynamique de roue directrice |
CN110035944B (zh) | 2017-01-13 | 2021-09-17 | 克朗设备公司 | 高速直行的操纵杆脱敏 |
AU2018207133B2 (en) | 2017-01-13 | 2022-09-15 | Crown Equipment Corporation | Industrial vehicle armrest |
CN107042980A (zh) * | 2017-04-24 | 2017-08-15 | 华南理工大学 | 叉车式agv小车 |
JP7188449B2 (ja) * | 2018-11-05 | 2022-12-13 | 株式会社島津製作所 | 産業車両 |
US11214967B1 (en) | 2018-11-08 | 2022-01-04 | Scepaniak IP Holdings, LLC | Roof rock spreader |
EP3705969B1 (fr) * | 2019-03-06 | 2021-06-23 | Hiab AB | Agencement d'accessoire de véhicule |
EP4157756A4 (fr) * | 2020-06-02 | 2024-02-14 | Oceaneering Int Inc | Détection et suivi automatiques de poches de palette pour ramassage automatisé |
US11780464B2 (en) * | 2021-12-17 | 2023-10-10 | Zoox, Inc. | Autonomous vehicle trajectory generation using velocity-based steering limits |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4942529A (en) * | 1988-05-26 | 1990-07-17 | The Raymond Corporation | Lift truck control systems |
US5995001A (en) * | 1997-07-09 | 1999-11-30 | Crown Equipment Corporation | Method and apparatus for providing operating information to an operator of a fork lift truck |
US7344037B1 (en) * | 2002-11-18 | 2008-03-18 | Mi-Jack Products, Inc. | Inventory storage and retrieval system and method with guidance for load-handling vehicle |
US20090271058A1 (en) * | 2008-04-23 | 2009-10-29 | Jervis B. Webb Company | Floating Forks For Lift Vehicles |
Family Cites Families (66)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3567048A (en) | 1969-10-10 | 1971-03-02 | Latham E Whitham | Remote automatic tripper operation and control by low bin determination |
JPS5326277B2 (fr) | 1973-09-05 | 1978-08-01 | ||
US4040500A (en) | 1975-11-06 | 1977-08-09 | Logisticon, Inc. | Guidance system for lift truck |
US4083422A (en) | 1975-11-06 | 1978-04-11 | Logisticon, Inc. | Bolt-on guidance system for lift truck |
US4077486A (en) | 1975-11-06 | 1978-03-07 | Logisticon, Inc. | Power steering device for lift truck |
US4319820A (en) | 1977-10-03 | 1982-03-16 | Polaroid Corporation | Auto/manual focus control inhibit/override |
US4279487A (en) | 1980-03-07 | 1981-07-21 | Polaroid Corporation | Adapter for coupling a camera to an optical instrument |
US4744408A (en) | 1984-11-30 | 1988-05-17 | Herzog-Hart Corporation | Temperature control method and apparatus |
US5068790A (en) | 1989-12-06 | 1991-11-26 | Crown Equipment Corporation | Wire guidance control system |
JPH04191132A (ja) | 1990-11-26 | 1992-07-09 | Mitsubishi Electric Corp | 車両の走行抵抗検出装置 |
JPH04203250A (ja) | 1990-11-29 | 1992-07-23 | Mitsubishi Motors Corp | 走行負荷分補償式速度制御部付ドライブバイワイヤ式車両 |
US5184122A (en) | 1991-01-31 | 1993-02-02 | Johnson Service Company | Facility management system with improved return to automatic control |
US5213548A (en) | 1992-03-02 | 1993-05-25 | Colbert Ralph G | Gear shifting system for derailleur equipped bicycle |
JP3225578B2 (ja) | 1992-03-19 | 2001-11-05 | 株式会社日立製作所 | 電気自動車 |
US5401223A (en) | 1993-08-18 | 1995-03-28 | Cummins Electronics Company, Inc. | Method and device for controlling critical switch failure and neutral conditions at high and low vehicle speeds |
EP0658467B1 (fr) | 1993-11-10 | 1997-11-26 | Raymond Corporation | Commande pour le filoguidage d'un véhicule de transport dirigé par un opérateur |
JP3785209B2 (ja) | 1995-12-28 | 2006-06-14 | 株式会社ケーヒン | 絞り弁制御装置 |
DE19613386A1 (de) * | 1996-04-03 | 1997-10-09 | Fiat Om Carrelli Elevatori | Flurförderzeug, das wahlweise manuell oder automatisch betreibbar ausgebildet ist |
US6853877B1 (en) * | 1996-09-06 | 2005-02-08 | Nomadic Technologies | Method and apparatus for mobile robot motion control |
US6414594B1 (en) | 1996-12-31 | 2002-07-02 | Honeywell International Inc. | Method and apparatus for user-initiated alarms in process control system |
US5795264A (en) | 1997-02-05 | 1998-08-18 | Eaton Corporation | Sensing manual shift into automated upper ratios |
US5938711A (en) | 1997-02-05 | 1999-08-17 | Eaton Corporation | Anti-hunt logic |
JP3687252B2 (ja) | 1997-02-28 | 2005-08-24 | 日産自動車株式会社 | 自動車の操舵装置 |
US5995884A (en) * | 1997-03-07 | 1999-11-30 | Allen; Timothy P. | Computer peripheral floor cleaning system and navigation method |
US6317637B1 (en) | 1998-10-22 | 2001-11-13 | National Instruments Corporation | System and method for maintaining output continuity of PID controllers in response to changes in controller parameters |
US6220219B1 (en) | 2000-02-15 | 2001-04-24 | Eaton Corporation | Engine speed control for decreasing engine speed |
EP1172248A3 (fr) | 2000-07-12 | 2006-10-04 | Deere & Company | Véhicule de travail à commande de charge sélectionné par l'opérateur |
US6721644B2 (en) | 2000-08-02 | 2004-04-13 | Alfred B. Levine | Vehicle drive override subsystem |
WO2002075538A1 (fr) | 2001-03-19 | 2002-09-26 | Mitsubishi Denki Kabushiki Kaisha | Dispositif multimedia monte sur vehicule |
US6445984B1 (en) | 2001-05-25 | 2002-09-03 | The Raymond Corporation | Steer control system for material handling vehicles |
US6995688B2 (en) | 2001-09-24 | 2006-02-07 | Reynolds James S | Method and apparatus for thwarting attempts to hijack aircraft and for responding to other aircraft emergencies |
JP3980868B2 (ja) | 2001-11-02 | 2007-09-26 | パイオニア株式会社 | 車両自動誘導システム、車両自動誘導システムにおける制御装置、車両自動誘導方法および自動誘導処理プログラム。 |
DE60318919T2 (de) | 2002-03-29 | 2009-01-29 | Advics Co., Ltd., Kariya | Fahrzeugsteuervorrichtung mit Servolenkung |
US6781516B2 (en) | 2002-04-18 | 2004-08-24 | United Dominion Industries, Inc. | Master control panel for loading dock equipment |
US6931958B2 (en) | 2002-08-23 | 2005-08-23 | Shimaro, Inc. | Apparatus for controlling first and second bicycle transmissions |
US6813557B2 (en) | 2003-03-27 | 2004-11-02 | Deere & Company | Method and system for controlling a vehicle having multiple control modes |
JP4209257B2 (ja) | 2003-05-29 | 2009-01-14 | 三菱重工業株式会社 | 分散型コントローラとその動作方法、及び、分散型コントローラを備えるフォークリフト |
US20050131645A1 (en) * | 2003-06-09 | 2005-06-16 | Panopoulos Peter J. | Machine having automatic transport with scanning and GPS functions |
US7110881B2 (en) | 2003-10-07 | 2006-09-19 | Deere & Company | Modular path planner |
US7099745B2 (en) * | 2003-10-24 | 2006-08-29 | Sap Aktiengesellschaft | Robot system using virtual world |
US7680234B2 (en) | 2004-02-24 | 2010-03-16 | Schneider Electric USA, Inc. | Method and apparatus for signal phase locking |
BE1016001A3 (nl) | 2004-04-30 | 2006-01-10 | Egemin Nv | Automatisch geleid voertuig met verbeterde navigatie. |
CA2482252A1 (fr) | 2004-09-21 | 2006-03-21 | Accutrak Systems Limited | Systeme de direction automatique |
US8078338B2 (en) | 2004-10-22 | 2011-12-13 | Irobot Corporation | System and method for behavior based control of an autonomous vehicle |
US7444193B2 (en) | 2005-06-15 | 2008-10-28 | Cutler Technology Corporation San Antonio Texas (Us) | On-line dynamic advisor from MPC models |
US7388491B2 (en) | 2005-07-20 | 2008-06-17 | Rockwell Automation Technologies, Inc. | Mobile RFID reader with integrated location awareness for material tracking and management |
WO2007048003A2 (fr) | 2005-10-21 | 2007-04-26 | Deere & Company | Module de commande robotique polyvalent |
US20070158128A1 (en) * | 2006-01-11 | 2007-07-12 | International Business Machines Corporation | Controlling driver behavior and motor vehicle restriction control |
EP2008060A4 (fr) | 2006-02-21 | 2010-08-25 | Us Postal Services | Systèmes et procédés destinés à créer des itinéraires pour des véhicules industriels motorisés |
US8306744B2 (en) | 2006-03-14 | 2012-11-06 | Mitsubishi Electric Corporation | Vehicle-mounted equipment |
US20070293989A1 (en) | 2006-06-14 | 2007-12-20 | Deere & Company, A Delaware Corporation | Multiple mode system with multiple controllers |
CN101152922B (zh) * | 2006-09-29 | 2011-05-11 | 捷玛计算机信息技术(上海)有限公司 | 仓库管理控制系统和可视化仓库管理系统 |
US7865303B2 (en) | 2006-11-09 | 2011-01-04 | General Motors Llc | Method of providing a navigational route for a vehicle navigation system |
CA2909832C (fr) | 2006-12-13 | 2018-05-01 | Crown Equipment Corporation | Systeme de gestion de flotte |
US7739006B2 (en) | 2007-02-07 | 2010-06-15 | Disney Enterprises, Inc. | System and method for autonomous navigation in a ride vehicle |
JP4699401B2 (ja) | 2007-02-20 | 2011-06-08 | 三菱重工業株式会社 | 蒸気システムの制御方法及び制御装置 |
US7865277B1 (en) | 2007-05-07 | 2011-01-04 | The United States Of America As Represented By The Secretary Of The Navy | Obstacle avoidance system and method |
US8179286B2 (en) | 2008-01-29 | 2012-05-15 | Qualcomm Incorporated | System and method for sensing cargo loads and trailer movement |
US8160765B2 (en) | 2008-03-03 | 2012-04-17 | Cnh America Llc | Method and system for coordinated vehicle control with wireless communication |
US20090288893A1 (en) | 2008-05-09 | 2009-11-26 | John C. Wyall | Controllerless electric drive system |
US20100084207A1 (en) | 2008-05-09 | 2010-04-08 | Wyall John C | Controllerless electric drive system |
US8930079B2 (en) | 2009-10-22 | 2015-01-06 | GM Global Technology Operations LLC | Systems and methods for driver intervention in an automatic steering system |
KR101116946B1 (ko) | 2010-04-09 | 2012-03-14 | 엘에스산전 주식회사 | 비례적분미분 제어기의 모드 전환장치 |
JP5749902B2 (ja) | 2010-07-21 | 2015-07-15 | 川崎重工業株式会社 | 車両用トラクション制御装置 |
US9139096B2 (en) | 2010-09-13 | 2015-09-22 | GM Global Technology Operations LLC | One-sided detection and disabling of integrator wind up for speed control in a vehicle |
US8589012B2 (en) * | 2011-06-14 | 2013-11-19 | Crown Equipment Limited | Method and apparatus for facilitating map data processing for industrial vehicle navigation |
-
2012
- 2012-08-29 AU AU2012302068A patent/AU2012302068B2/en active Active
- 2012-08-29 EP EP12759858.9A patent/EP2751014A1/fr not_active Withdrawn
- 2012-08-29 CA CA2845834A patent/CA2845834C/fr active Active
- 2012-08-29 WO PCT/US2012/052837 patent/WO2013033193A1/fr active Application Filing
- 2012-08-29 CN CN201280042689.3A patent/CN103842281B/zh active Active
- 2012-08-29 BR BR112014004809A patent/BR112014004809A2/pt not_active Application Discontinuation
- 2012-08-29 EP EP17202420.0A patent/EP3360842A1/fr active Pending
- 2012-09-25 US US13/626,400 patent/US8718860B2/en active Active
-
2014
- 2014-03-13 US US14/208,852 patent/US8892294B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4942529A (en) * | 1988-05-26 | 1990-07-17 | The Raymond Corporation | Lift truck control systems |
US5995001A (en) * | 1997-07-09 | 1999-11-30 | Crown Equipment Corporation | Method and apparatus for providing operating information to an operator of a fork lift truck |
US7344037B1 (en) * | 2002-11-18 | 2008-03-18 | Mi-Jack Products, Inc. | Inventory storage and retrieval system and method with guidance for load-handling vehicle |
US20090271058A1 (en) * | 2008-04-23 | 2009-10-29 | Jervis B. Webb Company | Floating Forks For Lift Vehicles |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112125224A (zh) * | 2020-09-16 | 2020-12-25 | 中建材创新科技研究院有限公司 | 一种激光导航叉车的导航系统及方法 |
CN112125224B (zh) * | 2020-09-16 | 2022-06-10 | 中建材创新科技研究院有限公司 | 一种激光导航叉车的导航系统及方法 |
Also Published As
Publication number | Publication date |
---|---|
AU2012302068A1 (en) | 2013-05-02 |
US20130054077A1 (en) | 2013-02-28 |
BR112014004809A2 (pt) | 2017-03-21 |
WO2013033193A1 (fr) | 2013-03-07 |
CN103842281A (zh) | 2014-06-04 |
AU2012302068B2 (en) | 2015-01-15 |
CA2845834C (fr) | 2019-04-23 |
EP2751014A1 (fr) | 2014-07-09 |
US8892294B2 (en) | 2014-11-18 |
CA2845834A1 (fr) | 2013-03-07 |
RU2014111513A (ru) | 2015-10-10 |
US8718860B2 (en) | 2014-05-06 |
CN103842281B (zh) | 2016-04-27 |
US20140195076A1 (en) | 2014-07-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US8892294B2 (en) | Vehicle control limits | |
AU2012302054B2 (en) | Vehicular navigation control interface | |
US9778656B2 (en) | Multimode vehicular navigation control | |
US8655588B2 (en) | Method and apparatus for providing accurate localization for an industrial vehicle | |
US10260890B2 (en) | Aisle-based roadmap generation | |
WO2012169903A2 (fr) | Procédé et appareil pour étalonner automatiquement des paramètres de véhicule | |
US20120303255A1 (en) | Method and apparatus for providing accurate localization for an industrial vehicle | |
RU2575810C2 (ru) | Система навигации вильчатых погрузчиков |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED |
|
AC | Divisional application: reference to earlier application |
Ref document number: 2751014 Country of ref document: EP Kind code of ref document: P |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20190214 |
|
RBV | Designated contracting states (corrected) |
Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
17Q | First examination report despatched |
Effective date: 20210210 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
P01 | Opt-out of the competence of the unified patent court (upc) registered |
Effective date: 20230529 |